gz/physics/FrameData.hh

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/*
 * Copyright (C) 2017 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#ifndef GZ_PHYSICS_FRAMEDATA_HH_
#define GZ_PHYSICS_FRAMEDATA_HH_
 
#include <gz/physics/Geometry.hh>
 
namespace gz
{
  namespace physics
  {
 
    template <typename Scalar, std::size_t Dim>
    struct FrameData
    {
      using Pose = gz::physics::Pose<Scalar, Dim>;
      using LinearVector = gz::physics::LinearVector<Scalar, Dim>;
      using AngularVector = gz::physics::AngularVector<Scalar, Dim>;
 
      public: FrameData();
 
      public: Pose pose;
 
      public: LinearVector linearVelocity;
 
      public: AngularVector angularVelocity;
 
      public: LinearVector linearAcceleration;
 
      public: AngularVector angularAcceleration;
 
      public: void SetToZero();
    };
    GZ_PHYSICS_MAKE_ALL_TYPE_COMBOS(FrameData)
 
    template <typename Scalar, std::size_t Dim>
    std::ostream& operator <<(std::ostream& stream,
                              const FrameData<Scalar, Dim> &_frame)
    {
      stream
        << "Pose:\n" << _frame.pose.matrix()
        << "\nLinear Velocity:      " << _frame.linearVelocity.transpose()
        << "\nAngular Velocity:     " << _frame.angularVelocity.transpose()
        << "\nLinear Acceleration:  " << _frame.linearAcceleration.transpose()
        << "\nAngular Acceleration: " << _frame.angularAcceleration.transpose();
 
      return stream;
    }
  }
}
 
#include <gz/physics/detail/FrameData.hh>
 
#endif